- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, December 2024.
BibTeX TR2024-008 PDF- @article{Shirai2024dec,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming},
- journal = {Nonlinear Analysis: Hybrid Systems},
- year = 2024,
- month = dec,
- url = {https://www.merl.com/publications/TR2024-008}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.
BibTeX TR2023-120 PDF- @inproceedings{Shirai2023sep,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {Contact-Aware Covariance Control of Stochastic Contact-Rich Systems},
- booktitle = {IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
- year = 2023,
- month = sep,
- url = {https://www.merl.com/publications/TR2023-120}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-rich Systems", American Control Conference (ACC), DOI: 10.23919/ACC55779.2023.10156516, May 2023, pp. 14-21.
BibTeX TR2023-061 PDF- @inproceedings{Shirai2023may4,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Chance-Constrained Optimization in Contact-rich Systems},
- booktitle = {American Control Conference (ACC)},
- year = 2023,
- pages = {14--21},
- month = may,
- publisher = {IEEE},
- doi = {10.23919/ACC55779.2023.10156516},
- url = {https://www.merl.com/publications/TR2023-061}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-Rich Systems", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10160249, May 2023, pp. 7923-7929.
BibTeX TR2023-024 PDF- @inproceedings{Shirai2023may3,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {Covariance Steering for Uncertain Contact-Rich Systems},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- pages = {7923--7929},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10160249},
- isbn = {979-8-3503-2365-8},
- url = {https://www.merl.com/publications/TR2023-024}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Tactile Tool Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10160480, May 2023, pp. 12597-12603.
BibTeX TR2023-023 PDF Video- @inproceedings{Shirai2023may2,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
- title = {Tactile Tool Manipulation},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- pages = {12597--12603},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10160480},
- isbn = {979-8-3503-2365-8},
- url = {https://www.merl.com/publications/TR2023-023}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Closed-Loop Tactile Controller for Tool Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
BibTeX TR2023-043 PDF- @inproceedings{Shirai2023may,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
- title = {Closed-Loop Tactile Controller for Tool Manipulation},
- booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
- year = 2023,
- month = may,
- url = {https://www.merl.com/publications/TR2023-043}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., "Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization", arXiv, March 2023.
BibTeX arXiv- @article{Shirai2023mar,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
- title = {Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization},
- journal = {arXiv},
- year = 2023,
- month = mar,
- url = {https://arxiv.org/abs/2303.08965v1}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization", RSS Workshop on The Science of Bumping into Things, June 2022.
BibTeX TR2022-090 PDF Video- @inproceedings{Shirai2022jun,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization},
- booktitle = {RSS Workshop on The Science of Bumping into Things},
- year = 2022,
- month = jun,
- url = {https://www.merl.com/publications/TR2022-090}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA46639.2022.9811812, May 2022, pp. 992-998.
BibTeX TR2022-045 PDF Video- @inproceedings{Shirai2022may,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2022,
- pages = {992--998},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA46639.2022.9811812},
- url = {https://www.merl.com/publications/TR2022-045}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation", arXiv, DOI: 10.48550/arXiv.2203.11412, March 2022.
BibTeX arXiv- @article{Shirai2022mar,
- author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
- title = {Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation},
- journal = {arXiv},
- year = 2022,
- month = mar,
- doi = {10.48550/arXiv.2203.11412},
- url = {https://arxiv.org/abs/2203.02616}
- }